eeros_architecture:control_system:signals
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eeros_architecture:control_system:signals [2015/10/14 14:04] – graf | eeros_architecture:control_system:signals [2021/03/03 08:29] (current) – [Reading from Unconnected Inputs] ursgraf | ||
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A signal represents a succession of varying physical quantities over time as used in signal processing and control. It has certain properties, such as a value and a timestamp, indicating the exact time corresponding to the value of the represented physical quantity. This is usually when the value was captured or generated. | A signal represents a succession of varying physical quantities over time as used in signal processing and control. It has certain properties, such as a value and a timestamp, indicating the exact time corresponding to the value of the represented physical quantity. This is usually when the value was captured or generated. | ||
- | {{ signaluml.png? | + | ===== Properties ===== |
+ | Each element of a signal is characterized by a value, a high precision timestamp, a name and additional properties, depending on the type of signal, which will provide semantic information. Some examples are dimension (e.g. length, mass, current, etc.), SI-unit (e.g. m, m/s, kg, Nm, A, etc.), reference coordinate system or activation state (enabled/ | ||
+ | |||
+ | [{{ signaluml.png? | ||
It's important to note that a signal can carry a single value as well as a vector or matrix of values. For this purpose the field //value// is declared as of type T. | It's important to note that a signal can carry a single value as well as a vector or matrix of values. For this purpose the field //value// is declared as of type T. | ||
+ | Signals are used to connect different blocks in the control system and share information between the control system, the sequencer and the safety system. | ||
- | ===== Using Signals ===== | + | Supported types for signals are |
- | The example below shows a gain block being defined, where its input and output are set to a three dimensional vector. Its gain is therefore a 3x3-matrix. | + | * Arithmetic (int, double ...) |
- | <code c> | + | * Logic (bool) |
- | Gain< | + | * Vector |
- | Gain< | + | * Matrix |
- | </ | + | Each signal can be assigned a name and a unit. All dimensions of a signal share the same name and unit.\\ |
+ | As an example we look at a block which does summation. Two signals, each of dimension 3, will be added together. | ||
+ | <code cpp> | ||
+ | Sum< | ||
+ | sum.setName(" | ||
+ | sum.getOut().getSignal().setName(" | ||
+ | </ | ||
+ | This is shown in the following diagram: | ||
+ | [{{ sumblock.png? | ||
- | Each element | + | The functions //getIn()// and // |
+ | |||
+ | ===== Timestamp ===== | ||
+ | Every signal carries a timestamp. The timestamp | ||
+ | Most blocks will not alter this timestamp. However, blocks | ||
+ | |||
+ | ===== Reading from Unconnected Inputs ===== | ||
+ | If you try to read from an input, which is not connected to an output, a //NotConnectedFault// | ||
- | Signals are used to connect different blocks in the control system and share information between the control system, the sequencer and the safety system. | ||
- | In order to access the individual dimensions of a certain signal, use functions like | ||
- | <code c> | ||
- | sum.getOut().getValue(); | ||
- | sum.getOut().getValue(0); | ||
- | sum.getOut().getValue(2); | ||
- | sum.getIn(1).getValue(2); | ||
- | </ | ||
eeros_architecture/control_system/signals.1444824271.txt.gz · Last modified: 2015/10/14 14:04 (external edit)